/**
******************************************************************************
* @addtogroup OpenPilotModules OpenPilot Modules
* @{
* @addtogroup AHRSCommsModule AHRSComms Module
* @brief Handles communication with AHRS and updating position
* Specifically updates the the @ref AttitudeActual "AttitudeActual" and @ref AttitudeRaw "AttitudeRaw" settings objects
* @{
*
* @file ahrs_comms.c
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief Module to handle all comms to the AHRS on a periodic basis.
*
* @see The GNU Public License (GPL) Version 3
*
******************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
/**
* Input object: AttitudeSettings
* Output object: AttitudeActual
*
* This module will periodically update the value of latest attitude solution
* that is available from the AHRS.
* The module settings can configure how often AHRS is polled for a new solution.
*
* The module executes in its own thread.
*
* UAVObjects are automatically generated by the UAVObjectGenerator from
* the object definition XML file.
*
* Modules have no API, all communication to other modules is done through UAVObjects.
* However modules may use the API exposed by shared libraries.
* See the OpenPilot wiki for more details.
* http://www.openpilot.org/OpenPilot_Application_Architecture
*
*/
#include "ahrs_comms.h"
#include "attitudeactual.h"
#include "ahrssettings.h"
#include "attituderaw.h"
#include "attitudesettings.h"
#include "ahrsstatus.h"
#include "alarms.h"
#include "baroaltitude.h"
#include "stdbool.h"
#include "gpsposition.h"
#include "positionactual.h"
#include "homelocation.h"
#include "ahrscalibration.h"
#include "CoordinateConversions.h"
#include "pios_opahrs.h" // library for OpenPilot AHRS access functions
#include "pios_opahrs_proto.h"
// Private constants
#define STACK_SIZE 400
#define TASK_PRIORITY (tskIDLE_PRIORITY+4)
// Private types
// Private variables
static xTaskHandle taskHandle;
// Private functions
static void ahrscommsTask(void* parameters);
static void load_baro_altitude(struct opahrs_msg_v1_req_update * update);
static void load_gps_position(struct opahrs_msg_v1_req_update * update);
static void load_magnetic_north(struct opahrs_msg_v1_req_north * north);
static void load_calibration(struct opahrs_msg_v1_req_calibration * calibration);
static void update_attitude_raw(struct opahrs_msg_v1_rsp_attituderaw * attituderaw);
static void update_ahrs_status(struct opahrs_msg_v1_rsp_serial * serial);
static void update_calibration(struct opahrs_msg_v1_rsp_calibration * calibration);
static void process_update(struct opahrs_msg_v1_rsp_update * update); // main information parser
static bool AHRSSettingsIsUpdatedFlag = false;
static void AHRSSettingsUpdatedCb(UAVObjEvent * ev)
{
AHRSSettingsIsUpdatedFlag = true;
}
static bool BaroAltitudeIsUpdatedFlag = false;
static void BaroAltitudeUpdatedCb(UAVObjEvent * ev)
{
BaroAltitudeIsUpdatedFlag = true;
}
static bool GPSPositionIsUpdatedFlag = false;
static void GPSPositionUpdatedCb(UAVObjEvent * ev)
{
GPSPositionIsUpdatedFlag = true;
}
static bool HomeLocationIsUpdatedFlag = false;
static void HomeLocationUpdatedCb(UAVObjEvent * ev)
{
HomeLocationIsUpdatedFlag = true;
}
static bool AHRSCalibrationIsUpdatedFlag = false;
static bool AHRSCalibrationIsLocallyUpdateFlag = false;
static void AHRSCalibrationUpdatedCb(UAVObjEvent * ev)
{
if(AHRSCalibrationIsLocallyUpdateFlag == true)
AHRSCalibrationIsLocallyUpdateFlag = false;
else
AHRSCalibrationIsUpdatedFlag = true;
}
static uint32_t GPSGoodUpdates;
/**
* Initialise the module, called on startup
* \returns 0 on success or -1 if initialisation failed
*/
int32_t AHRSCommsInitialize(void)
{
AHRSSettingsConnectCallback(AHRSSettingsUpdatedCb);
BaroAltitudeConnectCallback(BaroAltitudeUpdatedCb);
GPSPositionConnectCallback(GPSPositionUpdatedCb);
HomeLocationConnectCallback(HomeLocationUpdatedCb);
AHRSCalibrationConnectCallback(AHRSCalibrationUpdatedCb);
PIOS_OPAHRS_Init();
// Start main task
xTaskCreate(ahrscommsTask, (signed char*)"AHRSComms", STACK_SIZE, NULL, TASK_PRIORITY, &taskHandle);
return 0;
}
static uint16_t update_errors = 0;
static uint16_t attituderaw_errors = 0;
static uint16_t home_errors = 0;
static uint16_t calibration_errors = 0;
static uint16_t algorithm_errors = 0;
/**
* Module thread, should not return.
*/
static void ahrscommsTask(void* parameters)
{
enum opahrs_result result;
portTickType lastSysTime;
GPSGoodUpdates = 0;
// Main task loop
while (1) {
struct opahrs_msg_v1 rsp;
AhrsStatusData data;
AlarmsSet(SYSTEMALARMS_ALARM_AHRSCOMMS, SYSTEMALARMS_ALARM_CRITICAL);
/* Whenever resyncing, assume AHRS doesn't reset and doesn't know home */
AhrsStatusGet(&data);
data.HomeSet = AHRSSTATUS_HOMESET_FALSE;
//data.CalibrationSet = AHRSSTATUS_CALIBRATIONSET_FALSE;
data.AlgorithmSet = AHRSSTATUS_CALIBRATIONSET_FALSE;
AhrsStatusSet(&data);
/* Spin here until we're in sync */
while (PIOS_OPAHRS_resync() != OPAHRS_RESULT_OK) {
vTaskDelay(100 / portTICK_RATE_MS);
}
/* Give the other side a chance to keep up */
//vTaskDelay(100 / portTICK_RATE_MS);
if (PIOS_OPAHRS_GetSerial(&rsp) == OPAHRS_RESULT_OK) {
update_ahrs_status(&(rsp.payload.user.v.rsp.serial));
} else {
/* Comms error */
continue;
}
AlarmsClear(SYSTEMALARMS_ALARM_AHRSCOMMS);
/* We're in sync with the AHRS, spin here until an error occurs */
lastSysTime = xTaskGetTickCount();
while (1) {
AHRSSettingsData settings;
/* Update settings with latest value */
AHRSSettingsGet(&settings);
// Update home coordinate if it hasn't been updated
AhrsStatusGet(&data);
if (HomeLocationIsUpdatedFlag || (data.HomeSet == AHRSSTATUS_HOMESET_FALSE)) {
struct opahrs_msg_v1 req;
load_magnetic_north(&(req.payload.user.v.req.north));
if ((result = PIOS_OPAHRS_SetMagNorth(&req)) == OPAHRS_RESULT_OK) {
HomeLocationIsUpdatedFlag = false;
data.HomeSet = AHRSSTATUS_HOMESET_TRUE;
AhrsStatusSet(&data);
} else {
/* Comms error */
home_errors++;
data.HomeSet = AHRSSTATUS_HOMESET_FALSE;
AhrsStatusSet(&data);
break;
}
}
// Update calibration if necessary
AhrsStatusGet(&data);
if (AHRSCalibrationIsUpdatedFlag || (data.CalibrationSet == AHRSSTATUS_CALIBRATIONSET_FALSE))
{
struct opahrs_msg_v1 req;
struct opahrs_msg_v1 rsp;
load_calibration(&(req.payload.user.v.req.calibration));
if(( result = PIOS_OPAHRS_SetGetCalibration(&req,&rsp) ) == OPAHRS_RESULT_OK ) {
update_calibration(&(rsp.payload.user.v.rsp.calibration));
AHRSCalibrationIsUpdatedFlag = false;
if(rsp.payload.user.v.rsp.calibration.measure_var != AHRS_ECHO)
data.CalibrationSet = AHRSSTATUS_CALIBRATIONSET_TRUE;
AhrsStatusSet(&data);
} else {
/* Comms error */
data.CalibrationSet = AHRSSTATUS_CALIBRATIONSET_FALSE;
AhrsStatusSet(&data);
calibration_errors++;
break;
}
}
// Update algorithm
if (AHRSSettingsIsUpdatedFlag || (data.AlgorithmSet == AHRSSTATUS_ALGORITHMSET_FALSE))
{
struct opahrs_msg_v1 req;
if(settings.Algorithm == AHRSSETTINGS_ALGORITHM_INSGPS)
req.payload.user.v.req.algorithm.algorithm = INSGPS_Algo;
if(settings.Algorithm == AHRSSETTINGS_ALGORITHM_SIMPLE)
req.payload.user.v.req.algorithm.algorithm = SIMPLE_Algo;
if(( result = PIOS_OPAHRS_SetAlgorithm(&req) ) == OPAHRS_RESULT_OK ) {
data.AlgorithmSet = AHRSSTATUS_ALGORITHMSET_TRUE;
AhrsStatusSet(&data);
} else {
/* Comms error */
data.AlgorithmSet = AHRSSTATUS_ALGORITHMSET_FALSE;
AhrsStatusSet(&data);
algorithm_errors++;
break;
}
}
// If settings indicate, grab the raw and filtered data instead of estimate
if (settings.UpdateRaw)
{
if( (result = PIOS_OPAHRS_GetAttitudeRaw(&rsp)) == OPAHRS_RESULT_OK) {
update_attitude_raw(&(rsp.payload.user.v.rsp.attituderaw));
} else {
/* Comms error */
attituderaw_errors++;
break;
}
}
if (settings.UpdateFiltered)
{
// Otherwise do standard technique
struct opahrs_msg_v1 req;
struct opahrs_msg_v1 rsp;
// Load barometer if updated
if (BaroAltitudeIsUpdatedFlag)
load_baro_altitude(&(req.payload.user.v.req.update));
else
req.payload.user.v.req.update.barometer.updated = 0;
// Load GPS if updated
if (GPSPositionIsUpdatedFlag)
load_gps_position(&(req.payload.user.v.req.update));
else
req.payload.user.v.req.update.gps.updated = 0;
// Transfer packet and process returned attitude
if ((result = PIOS_OPAHRS_SetGetUpdate(&req,&rsp)) == OPAHRS_RESULT_OK) {
if (req.payload.user.v.req.update.barometer.updated)
BaroAltitudeIsUpdatedFlag = false;
if (req.payload.user.v.req.update.gps.updated)
GPSPositionIsUpdatedFlag = false;
process_update(&(rsp.payload.user.v.rsp.update));
} else {
/* Comms error */
update_errors++;
break;
}
}
/* Wait for the next update interval */
vTaskDelayUntil(&lastSysTime, settings.UpdatePeriod / portTICK_RATE_MS );
}
}
}
static void load_calibration(struct opahrs_msg_v1_req_calibration * calibration)
{
AHRSCalibrationData data;
AHRSCalibrationGet(&data);
if(data.measure_var == AHRSCALIBRATION_MEASURE_VAR_SET)
calibration->measure_var = AHRS_SET;
else if(data.measure_var == AHRSCALIBRATION_MEASURE_VAR_MEASURE)
calibration->measure_var = AHRS_MEASURE;
else
calibration->measure_var = AHRS_ECHO;
calibration->accel_bias[0] = data.accel_bias[0];
calibration->accel_bias[1] = data.accel_bias[1];
calibration->accel_bias[2] = data.accel_bias[2];
calibration->accel_scale[0] = data.accel_scale[0];
calibration->accel_scale[1] = data.accel_scale[1];
calibration->accel_scale[2] = data.accel_scale[2];
calibration->accel_var[0] = data.accel_var[0];
calibration->accel_var[1] = data.accel_var[1];
calibration->accel_var[2] = data.accel_var[2];
calibration->gyro_bias[0] = data.gyro_bias[0];
calibration->gyro_bias[1] = data.gyro_bias[1];
calibration->gyro_bias[2] = data.gyro_bias[2];
calibration->gyro_scale[0] = data.gyro_scale[0];
calibration->gyro_scale[1] = data.gyro_scale[1];
calibration->gyro_scale[2] = data.gyro_scale[2];
calibration->gyro_var[0] = data.gyro_var[0];
calibration->gyro_var[1] = data.gyro_var[1];
calibration->gyro_var[2] = data.gyro_var[2];
calibration->mag_bias[0] = data.mag_bias[0];
calibration->mag_bias[1] = data.mag_bias[1];
calibration->mag_bias[2] = data.mag_bias[2];
calibration->mag_var[0] = data.mag_var[0];
calibration->mag_var[1] = data.mag_var[1];
calibration->mag_var[2] = data.mag_var[2];
}
static void update_calibration(struct opahrs_msg_v1_rsp_calibration * calibration)
{
AHRSCalibrationData data;
AHRSCalibrationGet(&data);
AHRSCalibrationIsLocallyUpdateFlag = true;
data.accel_var[0] = calibration->accel_var[0];
data.accel_var[1] = calibration->accel_var[1];
data.accel_var[2] = calibration->accel_var[2];
data.gyro_var[0] = calibration->gyro_var[0];
data.gyro_var[1] = calibration->gyro_var[1];
data.gyro_var[2] = calibration->gyro_var[2];
data.mag_var[0] = calibration->mag_var[0];
data.mag_var[1] = calibration->mag_var[1];
data.mag_var[2] = calibration->mag_var[2];
AHRSCalibrationSet(&data);
}
static void load_magnetic_north(struct opahrs_msg_v1_req_north * mag_north)
{
HomeLocationData data;
HomeLocationGet(&data);
mag_north->Be[0] = data.Be[0];
mag_north->Be[1] = data.Be[1];
mag_north->Be[2] = data.Be[2];
if(data.Be[0] == 0 && data.Be[1] == 0 && data.Be[2] == 0) {
// in case nothing has been set go to default to prevent NaN in attitude solution
mag_north->Be[0] = 1;
mag_north->Be[1] = 0;
mag_north->Be[2] = 0;
} else {
// normalize for unit length here
float len = sqrt(data.Be[0] * data.Be[0] + data.Be[1] * data.Be[1] + data.Be[2] * data.Be[2]);
mag_north->Be[0] = data.Be[0] / len;
mag_north->Be[1] = data.Be[1] / len;
mag_north->Be[2] = data.Be[2] / len;
}
}
static void load_baro_altitude(struct opahrs_msg_v1_req_update * update)
{
BaroAltitudeData data;
BaroAltitudeGet(&data);
update->barometer.altitude = data.Altitude;
update->barometer.updated = TRUE;
}
static void load_gps_position(struct opahrs_msg_v1_req_update * update)
{
GPSPositionData data;
GPSPositionGet(&data);
HomeLocationData home;
HomeLocationGet(&home);
update->gps.updated = TRUE;
if(home.Set == HOMELOCATION_SET_FALSE || home.Indoor == HOMELOCATION_INDOOR_TRUE) {
PositionActualData pos;
PositionActualGet(&pos);
update->gps.NED[0] = 0;
update->gps.NED[1] = 0;
update->gps.NED[2] = 0;
update->gps.groundspeed = 0;
update->gps.heading = 0;
update->gps.quality = -1; // indicates indoor mode, high variance zeros update
} else {
// TODO: Parameterize these heuristics into the settings
if(data.Satellites >= 7 && data.PDOP < 3.5) {
if(GPSGoodUpdates < 30) {
GPSGoodUpdates++;
update->gps.quality = 0;
} else {
update->gps.groundspeed = data.Groundspeed;
update->gps.heading = data.Heading;
double LLA[3] = {(double) data.Latitude / 1e7, (double) data.Longitude / 1e7, (double) (data.GeoidSeparation + data.Altitude)};
// convert from cm back to meters
double ECEF[3] = {(double) (home.ECEF[0] / 100), (double) (home.ECEF[1] / 100), (double) (home.ECEF[2] / 100)};
LLA2Base(LLA, ECEF, (float (*)[3]) home.RNE, update->gps.NED);
update->gps.quality = 1;
}
} else {
GPSGoodUpdates = 0;
update->gps.quality = 0;
}
}
}
static void process_update(struct opahrs_msg_v1_rsp_update * update)
{
AttitudeActualData data;
AttitudeSettingsData attitudeSettings;
AttitudeSettingsGet(&attitudeSettings);
data.q1 = update->quaternion.q1;
data.q2 = update->quaternion.q2;
data.q3 = update->quaternion.q3;
data.q4 = update->quaternion.q4;
float q[4] = {data.q1, data.q2, data.q3, data.q4};
float rpy[3];
Quaternion2RPY(q,rpy);
data.Roll = rpy[0] - attitudeSettings.RollBias;
data.Pitch = rpy[1] - attitudeSettings.PitchBias;
data.Yaw = rpy[2];
if(data.Yaw < 0) data.Yaw += 360;
AttitudeActualSet(&data);
PositionActualData pos;
PositionActualGet(&pos);
pos.NED[0] = update->NED[0];
pos.NED[1] = update->NED[1];
pos.NED[2] = update->NED[2];
pos.Vel[0] = update->Vel[0];
pos.Vel[1] = update->Vel[1];
pos.Vel[2] = update->Vel[2];
PositionActualSet(&pos);
AhrsStatusData status;
AhrsStatusGet(&status);
status.CPULoad = update->load;
status.IdleTimePerCyle = update->idle_time;
status.RunningTimePerCyle = update->run_time;
status.DroppedUpdates = update->dropped_updates;
AhrsStatusSet(&status);
}
static void update_attitude_raw(struct opahrs_msg_v1_rsp_attituderaw * attituderaw)
{
AttitudeRawData data;
data.magnetometers[ATTITUDERAW_MAGNETOMETERS_X] = attituderaw->mags.x;
data.magnetometers[ATTITUDERAW_MAGNETOMETERS_Y] = attituderaw->mags.y;
data.magnetometers[ATTITUDERAW_MAGNETOMETERS_Z] = attituderaw->mags.z;
data.gyros[ATTITUDERAW_GYROS_X] = attituderaw->gyros.x;
data.gyros[ATTITUDERAW_GYROS_Y] = attituderaw->gyros.y;
data.gyros[ATTITUDERAW_GYROS_Z] = attituderaw->gyros.z;
data.gyros_filtered[ATTITUDERAW_GYROS_FILTERED_X] = attituderaw->gyros_filtered.x;
data.gyros_filtered[ATTITUDERAW_GYROS_FILTERED_Y] = attituderaw->gyros_filtered.y;
data.gyros_filtered[ATTITUDERAW_GYROS_FILTERED_Z] = attituderaw->gyros_filtered.z;
data.gyrotemp[ATTITUDERAW_GYROTEMP_XY] = attituderaw->gyros.xy_temp;
data.gyrotemp[ATTITUDERAW_GYROTEMP_Z] = attituderaw->gyros.z_temp;
data.accels[ATTITUDERAW_ACCELS_X] = attituderaw->accels.x;
data.accels[ATTITUDERAW_ACCELS_Y] = attituderaw->accels.y;
data.accels[ATTITUDERAW_ACCELS_Z] = attituderaw->accels.z;
data.accels_filtered[ATTITUDERAW_ACCELS_FILTERED_X] = attituderaw->accels_filtered.x;
data.accels_filtered[ATTITUDERAW_ACCELS_FILTERED_Y] = attituderaw->accels_filtered.y;
data.accels_filtered[ATTITUDERAW_ACCELS_FILTERED_Z] = attituderaw->accels_filtered.z;
AttitudeRawSet(&data);
}
static void update_ahrs_status(struct opahrs_msg_v1_rsp_serial * serial)
{
AhrsStatusData data;
// Get the current object data
AhrsStatusGet(&data);
for (uint8_t i = 0; i < sizeof(serial->serial_bcd); i++) {
data.SerialNumber[i] = serial->serial_bcd[i];
}
data.CommErrors[AHRSSTATUS_COMMERRORS_UPDATE] = update_errors;
data.CommErrors[AHRSSTATUS_COMMERRORS_ATTITUDERAW] = attituderaw_errors;
data.CommErrors[AHRSSTATUS_COMMERRORS_HOMELOCATION] = home_errors;
data.CommErrors[AHRSSTATUS_COMMERRORS_CALIBRATION] = calibration_errors;
data.CommErrors[AHRSSTATUS_COMMERRORS_ALGORITHM] = algorithm_errors;
AhrsStatusSet(&data);
}
/**
* @}
* @}
*/